CN218927843U

CN218927843U - Novel device for clamping materials

Info

Publication number: CN218927843U
Application number: CN202221978669.4U
Authority: CN
Inventors: 宋文彪; 富弘毅; 殷胜民; 朱逸武; 罗小波
Original assignee: Zhuzhou Jiacheng Technology Development Co ltd
Current assignee: Zhuzhou Jiacheng Technology Development Co ltd
Priority date: 2022-07-28
Filing date: 2022-07-28
Publication date: 2023-04-28
Anticipated expiration: 2032-07-28

Abstract

The utility model relates to the field of material clamping and discloses a novel material clamping device which comprises a clamping end and a robot connected with the clamping end, wherein the clamping end comprises a clamping base connected with the robot, and a vacuum suction claw and a cylinder clamping claw which are arranged on the clamping base. Vacuum suction claw for grabbing plane plate materials and cylinder clamping claw for clamping and grabbing special-shaped materials. The vacuum suction claw and the cylinder clamping jaw are arranged on the clamping base, the clamping base is controlled by the robot to displace and rotate, so that the device can be used for grabbing different materials, and the cylinder clamping jaw starts to grab different materials under the rotation driving action of the robot after the vacuum suction claw grabs the corresponding materials. The device not only can meet the grabbing of different materials, but also can grab different materials at one time.

Description

Novel device for clamping materials

Technical Field

The utility model relates to the field of material clamping, in particular to a novel material clamping device.

Background

After rolling of the steel rail for a period of time, parts of the fastener on the steel rail, such as a fastener baffle plate (for short, a baffle plate) and a fastener backing plate (for short, a backing plate) can deform due to the extrusion action of the train, so that relevant parameters of the steel rail are affected. Therefore, the steel rail needs to be regularly detected and maintained, and abnormal parts in the fastener are timely replaced, so that the railway can work smoothly. The baffle and the backing plate are all provided with a plurality of models, and the sizes of different models are different.

At present, corresponding actions are manually completed by manpower when maintaining the steel rail in the industry. Such as taking material from a material box, is also done manually. But the efficiency is low when the grabbing of the materials is realized manually.

The prior art discloses: CN201821485106.5 discloses a material snatchs mechanism, including disk body (1) and vacuum chuck, vacuum chuck including the equipartition in sucking disc body (2) of disk body (1) one side, sucking disc body (2) are fixed in through support column (3) on disk body (1), vacuum chuck still includes trachea and evacuating equipment (4), evacuating equipment (4) are right through the trachea sucking disc body (2) evacuation, support column (3) have the passageway, the passageway runs through disk body (1), the trachea passes through the passageway with sucking disc body (2) are connected and assist evacuating equipment (4) are right sucking disc body (2) evacuation, the trachea passes support column (3) and to disk body (1) are kept away from one side of sucking disc body (2) extends, the trachea include with evacuating equipment (4) be connected be responsible for (5) and with be responsible for (5) communicating lateral conduit (6), every lateral conduit (6) are connected with an independent sucking disc body (2) and are all provided with pneumatic valve (7).

The prior art discloses a technical scheme of utilizing vacuum chuck to adsorb the material and snatch, but only be fit for snatching one kind of material, perhaps only can satisfy the material to the plane board structure go on, to the material of different shapes, can't satisfy simultaneously snatch.

The prior equipment for carrying out automatic precise adjustment on the high-speed railway rail fasteners comprises a material storage system for storing materials, but the prior material storage system cannot solve the technical problem that different materials in a storage grid can be automatically grabbed to facilitate the grabbing of a later procedure.

Disclosure of Invention

The utility model solves the technical problem of overcoming the problems existing in the prior art and providing a novel device which has a simple structure and can effectively promote the material clamping of materials in a material storage grid.

The aim of the utility model is achieved by the following technical scheme:

the utility model discloses a novel device that material was got is pressed from both sides, the device is including pressing from both sides and getting the end and with press from both sides the robot that gets the end and be connected, press from both sides and get the end and get the base including pressing from both sides that are connected with the robot, and set up press from both sides vacuum suction claw and cylinder clamping jaw on getting the base.

Preferably, the robot comprises a base, a first rotating arm and a second rotating arm, and the base, the first rotating arm and the second rotating arm are sequentially connected.

Preferably, the output end of the second rotating arm is connected with the clamping base.

Preferably, a flange is arranged between the output end of the second rotating arm and the clamping base.

Preferably, the vacuum chuck comprises a vacuum chuck and a positioning rod for confirming the position of the vacuum chuck.

Preferably, the cylinder jaw comprises a clamping cylinder and a jaw portion connected to the clamping cylinder.

Preferably, the clamping jaw part comprises a fixed clamping jaw fixedly connected with the clamping base and a movable clamping jaw connected with the telescopic end of the clamping cylinder.

Preferably, clamping teeth are arranged on the end face of the clamping jaw part, which is contacted with the material to be grabbed.

Preferably, the clamping base comprises two vacuum suction claws which are symmetrically arranged left and right.

Preferably, the clamping base comprises two cylinder clamping jaws which are arranged up and down symmetrically.

Compared with the prior art, the novel device for clamping the material comprises the vacuum suction claw for clamping the plane plate material and the cylinder clamping claw for clamping the special-shaped material. The vacuum suction claw and the cylinder clamping jaw are arranged on the clamping base, the clamping base is controlled by the robot to displace and rotate, so that the device can be used for grabbing different materials, and the cylinder clamping jaw starts to grab different materials under the rotation driving action of the robot after the vacuum suction claw grabs the corresponding materials. The device not only can meet the grabbing of different materials, but also can grab different materials at one time.

The method has the following beneficial effects:

1) The vacuum suction claw and the cylinder clamping jaw are designed, so that the grabbing of different materials is met.

2) A plurality of materials can be snatched once only, snatch efficiency has been improved greatly.

3) The clamping end is driven by a robot, so that the device runs stably.

Drawings

FIG. 1 is a schematic view of a novel apparatus for gripping materials;

FIG. 2 is a schematic diagram of a robot in a novel material gripping apparatus according to the present utility model;

fig. 3 is a schematic structural view of a gripping end of a novel device for gripping materials according to the present utility model.

1-clamping a base; 2-a robot; 20-a base; 21-a first rotating arm; 22-a second rotating arm; 3-a flange plate; 4-vacuum suction claw; 5-cylinder clamping jaws; 40-vacuum chuck; 41-positioning rod.

Detailed Description

In order to clearly illustrate the technical features of the present solution, the present utility model will be described in detail below with reference to the following detailed description and the accompanying drawings.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced otherwise than as described herein, and thus the scope of the present application is not limited by the specific embodiments disclosed below.

In addition, in the description of the present application, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," etc. indicate or refer to an azimuth or a positional relationship based on that shown in the drawings, and are merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or element in question must have a specific azimuth, be configured and operated in a specific azimuth, and therefore should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; the device can be mechanically connected, electrically connected and communicated; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In this application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Example 1

The high-speed railway rail fastener precise adjustment automatic system comprises a material storage system, a material supply system, a track measurement system, adjustment equipment and a central control system. Wherein the material storage system comprises a storage bin having a plurality of material (rail fastener component) storage units. The material supply system is used for grabbing the steel rail fastener parts in the material storage system and supplying the steel rail fastener parts to the adjusting equipment, and the adjusting equipment is used for automatically replacing the steel rail fastener parts. In order to facilitate grabbing materials in the storage box by the material supply system, materials of different types in the storage box are correspondingly grabbed to the appointed position through the material clamping device, so that grabbing and using in a later procedure are facilitated.

A new device for gripping and transferring material can be provided in the material storage system.

As shown in fig. 1-3, a novel material clamping device is disclosed, which comprises a clamping end and a robot connected with the clamping end, wherein the clamping end comprises a clamping base connected with the robot, and a vacuum suction claw and a cylinder clamping claw which are arranged on the clamping base.

The novel device for clamping the materials is arranged in a material storage system in a high-speed railway steel rail fastener precise adjustment automation system and is used for transferring materials in a material storage grid in the material storage system. A fastener is arranged between adjacent steel rails, and after the fastener is rolled for many times by a train, part of parts in the fastener are deformed, so that the size of the steel rails is affected. Therefore, maintenance of the rail is required at regular intervals. When the steel rail is maintained, the common method is to change fastener parts such as a baffle plate and a backing plate so as to adjust the size of the steel rail and realize the maintenance of the steel rail. The baffle plate, the base plate and the like in the storage box can be completely grabbed through the vacuum suction claw and the cylinder clamping claw, and the transfer is realized under the action of the robot. The working principle of the device is as follows:

under the driving action of the robot, the whole clamping end moves to a material to-be-grabbed position, under the adjusting action of the robot, the vacuum suction claw is aligned to the first material to be grabbed, then the robot controls the vacuum suction claw to grab the first material, after the first material is grabbed, the clamping end returns to the to-be-grabbed position under the action of the robot, the clamping base starts to rotate by 90 degrees, at the moment, the cylinder clamping claw which does not grab the material is switched to the position of the vacuum suction claw which grabs the material, and then under the driving action of the robot, the cylinder clamping claw is controlled to grab the second medium material. After the second group of materials are grabbed, two grabbed materials are transferred to the material transfer placing area under the action of the robot, and finally, the two materials are grabbed and transported once.

To sum up, this device includes the vacuum that snatchs the flat panel class material and goes into the cylinder clamping jaw that the centre gripping snatched to the dysmorphism shape material. The vacuum suction claw and the cylinder clamping jaw are arranged on the clamping base, the clamping base is controlled by the robot to displace and rotate, so that the device can be used for grabbing different materials, and the cylinder clamping jaw starts to grab different materials under the rotation driving action of the robot after the vacuum suction claw grabs the corresponding materials. The device not only can meet the grabbing of different materials, but also can grab different materials at one time, thereby meeting the grabbing of different materials. Meanwhile, two materials can be grabbed in each grabbing period, and compared with the situation that only one material can be grabbed at a time, the grabbing efficiency is greatly improved, and the practical efficiency is doubled. The robot belongs to a very mature technology in the current industry, and the driving of the whole device is completed by the robot, so that the motion stability of the whole device is ensured.

In this embodiment, through this device to make the structure of the material storage system in a high-speed railway rail fastener precision adjustment automation system more perfect, finally make whole high-speed railway rail fastener precision adjustment automation system more intelligent, improved the efficiency of high-speed railway rail fastener precision adjustment automation system moreover greatly.

Example 2

The utility model discloses a novel device that material was got is got to clamp, including press from both sides and get the end and with press from both sides the robot 2 of getting the end and be connected, press from both sides and get the end and get base 1 including being connected with robot 2 to and set up vacuum suction claw 4 and cylinder clamping jaw 5 on pressing from both sides getting base 1.

The difference between this embodiment and embodiment 1 is that: the robot 2 includes a base 20, a first rotating arm 21, and a second rotating arm 22, and the base 20, the first rotating arm 21, and the second rotating arm 22 are sequentially connected. The robot 2 is fixed to the bottom surface or other base 20 by means of the base 20, and then the first rotating arm 21 is connected to the base 20, and finally the second rotating arm 22 is connected to the first rotating arm 21. In summary, the robot 2 is an industrial mechanical arm, the industrial mechanical arm is the prior art, the industrial robots are classified into a plurality of types, wherein the large and small types of the industrial robots are all composed of three large core components, and the core structure of the industrial robots is composed of a servo motor, a speed reducer and a control system. The motion program is edited by manual operation, then the servo driver in the industrial mechanical arm is communicated by the control system, the servo motor in the industrial mechanical arm is driven by the driver, and the transmission of the speed reducer is controlled by the motor, so that the motion operation of the industrial robot is achieved.

In order to facilitate the connection and disconnection between the gripping end and the robot 2, a flange 3 may be provided between the output end of the second rotating arm 22 and the gripping base 1.

According to the production demand, can be with base 20 direct fixation on ground, also can be in order to increase the flexibility of this device, can set up base 20 on sliding platform.

Example 3

The difference between this embodiment and embodiment 1 is that: the vacuum chuck 4 includes a vacuum chuck 40 and a positioning rod 41 for confirming the position of the vacuum chuck 40. The principle of the vacuum chuck 4 is to only suck the material by forming a negative pressure. In order to increase the suction force between the vacuum chuck 40 and the material, the vacuum chuck 40 may be provided in plurality. Meanwhile, in order to confirm the actual position of the vacuum chuck 4 conveniently, a positioning rod 41 for positioning the position of the vacuum chuck claw may be arranged on the vacuum chuck 4, and in particular, a corresponding position sensor may be arranged on the positioning rod 41. The positioning lever 41 is provided for the purpose of making it possible to prepare for judgment of the actual position of the vacuum chuck 4, thereby improving the accuracy with which the vacuum chuck 4 grips the material.

Example 4

The difference between this embodiment and embodiment 1 is that: the cylinder jaw 5 comprises a clamping cylinder and a jaw portion connected to said clamping cylinder. The clamping jaw part can be designed to comprise a fixed clamping jaw fixedly connected with the clamping base and a movable clamping jaw connected with the telescopic end of the clamping cylinder. When the cylinder clamping jaw moves to the position of the material to be grabbed, the movable clamping jaw gradually approaches the fixed clamping jaw under the action of the clamping cylinder, and finally the material is tightly grabbed from two sides through the fixed clamping jaw and the movable clamping jaw.

The main principle of grabbing materials by the clamping claw parts is to utilize static friction force between the clamping claw parts and the surfaces of the materials, so that the materials are grabbed and transferred. Therefore, in order to enable the gripper portion to stably grip a material and prevent a material from falling off during the material handling process, gripper teeth may be provided on the end face of the gripper portion that is in contact with the material to be gripped. Through the clamp teeth, the friction force between the clamp claw parts and the materials to be grabbed is increased, and the clamping effect of the clamp claw parts is guaranteed.

Example 5

The difference between this embodiment and the above embodiment is that: in order to further improve the fixture efficiency of the device, the clamping base 1 comprises two vacuum suction claws 4 which are symmetrically arranged left and right, and the clamping base 1 comprises two cylinder clamping claws 5 which are symmetrically arranged up and down. Four grabbing components for grabbing materials are arranged on the clamping base 1, so that four materials can be grabbed at most each time, grabbing switching is realized through a robot, and grabbing efficiency is greatly improved. Different grabbing parts are symmetrically arranged on the clamping base, and the structure is attractive.

It is apparent that the above examples are only examples for clearly illustrating the technical solution of the present utility model, and are not limiting of the embodiments of the present utility model. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are desired to be protected by the following claims.

Claims

1. The novel material clamping device is characterized by comprising a clamping end and a robot connected with the clamping end, wherein the clamping end comprises a clamping base connected with the robot, and a vacuum suction claw and a cylinder clamping claw which are arranged on the clamping base; the robot comprises a base, a first rotating arm and a second rotating arm, wherein the base, the first rotating arm and the second rotating arm are sequentially connected; the output end of the second rotating arm is connected with the clamping base; and a flange plate is arranged between the output end of the second rotating arm and the clamping base.

2. The novel material clamping device according to claim 1, wherein the vacuum chuck comprises a vacuum chuck and a positioning rod for confirming the position of the vacuum chuck.

3. The novel material gripping device according to claim 1, wherein the cylinder gripping jaw comprises a gripping cylinder and a jaw portion connected to the gripping cylinder.

4. A novel material gripping device according to claim 3, characterised in that the jaw portion comprises a fixed jaw fixedly connected to the gripping base and a movable jaw connected to the telescopic end of the gripping cylinder.

5. The novel material clamping device according to claim 4, wherein clamping teeth are arranged on the end face of the clamping jaw portion, which is contacted with the material to be clamped.

6. The novel material clamping device according to claim 1, wherein the clamping base comprises two vacuum suction claws which are symmetrically arranged left and right.

7. The novel material clamping device according to claim 1, wherein the clamping base comprises two cylinder clamping jaws which are arranged symmetrically up and down.